KR101377346B1 - Method and apparatus for recognizing parking slot - Google Patents

Method and apparatus for recognizing parking slot Download PDF

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Publication number
KR101377346B1
KR101377346B1 KR1020100063678A KR20100063678A KR101377346B1 KR 101377346 B1 KR101377346 B1 KR 101377346B1 KR 1020100063678 A KR1020100063678 A KR 1020100063678A KR 20100063678 A KR20100063678 A KR 20100063678A KR 101377346 B1 KR101377346 B1 KR 101377346B1
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South Korea
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point
parking space
coordinate value
width
reference
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KR1020100063678A
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Korean (ko)
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KR20120003053A (en
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김성주
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주식회사 만도
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Abstract

The present invention relates to a parking space recognition method and an apparatus thereof. More specifically, a parking space recognition method and apparatus for accurately recognizing a parking space by accurately detecting the position of an object around the parking space even in a situation where a recognition error may occur due to a lack or excessive sensor data. It is about.

Description

Parking space recognition method and device therefor {METHOD AND APPARATUS FOR RECOGNIZING PARKING SLOT}

The present invention relates to a parking space recognition method and an apparatus thereof. More specifically, a parking space recognition method and apparatus for accurately recognizing a parking space by accurately detecting the position of an object around the parking space even in a situation where a recognition error may occur due to a lack or excessive sensor data. It is about.

In the conventional parking control apparatus, a parking space is recognized using a sensor (for example, an ultrasonic sensor), and parking control is performed to the recognized parking space through steering control of the vehicle based on the recognition result.

In order to perform the parking control safely and accurately, accurate recognition of the parking space must be made, and the accurate recognition of the parking space can be made by accurately identifying the position of the obstacle around the parking space.

However, in the conventional parking control device, the sensor data used to recognize the parking space is too short or excessive, so that corner points on both sides of the obstacle in the vicinity of the parking space are determined differently from the actual one, and the parking space is incorrectly determined by incorrectly identifying the location of the obstacle. Recognizing problems may occur. The error of parking space recognition is a factor that hinders safe and accurate parking control.

In this background, an object of the present invention is to accurately recognize a parking space by accurately identifying the position of an object around the parking space, even in a situation in which a recognition error may occur due to a lack or excessive sensor data. .

In order to achieve the above object, in one aspect, the present invention, the sensor data through the sensor and the sensor data from the received reflection sensor signal received by reflecting the transmitted sensor signal to one or more objects in the periphery of the parking space Sensor data acquisition unit for obtaining a; A sensor data analyzer configured to analyze the sensor data and extract edge and reference points of a specific object; A corner point determiner configured to determine a corner point of the specific object based on the edge point and the reference point; And a parking space recognizing unit configured to recognize the parking space by identifying a location of the specific object around the parking space based on the corner point.

In another aspect, the present invention provides a parking space recognition method provided by a parking space recognition apparatus, (a) transmitting a sensor signal through a sensor and the transmitted sensor signal is reflected to one or more objects in the periphery of the parking space Obtaining sensor data from the received reflection sensor signal; (b) extracting an edge point and a reference point of a specific object by analyzing the sensor data; (c) determining a corner point of the specific object based on the edge point and the reference point; And (d) recognizing a parking space by identifying a location of the specific object around the parking space based on the corner point.

As described above, according to the present invention, even in a situation in which a recognition error may occur due to lack or excessive sensor data, an effect of accurately identifying the parking space by accurately identifying the position of an object around the parking space is provided. have.

1 is a block diagram of a parking space recognition apparatus according to an embodiment of the present invention.
2 exemplarily illustrates a parking control environment.
3 is a diagram illustrating a recognition error due to lack of sensor data in the parking control environment of FIG. 2.
4 is a diagram illustrating a recognition error due to excessive sensor data in the parking control environment of FIG. 2.
5 is a view illustrating a corner point determination method for improving parking space recognition performance when sensor data is insufficient by the parking space recognition apparatus according to an embodiment of the present invention.
6 is a view illustrating a corner point determination method for improving parking space recognition performance when sensor data is excessive by the parking space recognition apparatus according to an embodiment of the present invention.
FIG. 7 is a view illustrating a location of an object and a parking space in the parking control environment of FIG. 2 through the parking space recognition apparatus according to an embodiment of the present invention.
8 is a flowchart illustrating a parking space recognition method according to an embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. It should be noted that, in adding reference numerals to the constituent elements of the drawings, the same constituent elements are denoted by the same reference symbols as possible even if they are shown in different drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

In describing the components of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected to or connected to the other component, It should be understood that an element may be "connected," "coupled," or "connected."

1 is a block diagram of a parking space recognition apparatus 100 according to an embodiment of the present invention.

Referring to FIG. 1, the parking space recognizing apparatus 100 according to an exemplary embodiment of the present invention transmits a sensor signal through a sensor, and the transmitted sensor signal is one or more objects in the periphery of the parking space (that is, parking control). It may contain obstacles (henceforth referred to as 'specific objects') that are obstructed and must be accurately identified, and may further include general objects which do not interfere with parking control or do not need to be considered for parking control and location recognition. Sensor data acquisition unit 110 that acquires sensor data from the reflected sensor signal reflected and received, and extracts an edge point and a reference point of a specific object by analyzing the acquired sensor data. On the basis of the sensor data analysis unit 120, the corner point determination unit 130 to determine the corner point of the specific object based on the extracted edge point and the reference point of the specific object, and based on the determined corner point of the specific object , Identifying the position of an object in the vicinity of the primary space and includes a parking recognition unit 140, such as listening to the parking area.

The parking space recognition result of the parking space recognition apparatus 100 is used for vehicle parking control from the parking control device to the parking space. Referring to FIG. 2 exemplarily illustrating a parking control environment, when the vehicle X 210 intends to park at right angles in the parking space 200 between the parking vehicle A 220 and the parking vehicle B 230, the vehicle X 210. In the parking control device mounted on the 210, the parking space recognition apparatus 100 recognizes the parking space 200 using a sensor (eg, an ultrasonic sensor), and steer the vehicle X 210 based on the recognition result. The parking control is performed to the recognized parking space 200 through the control. At this time, for safe and accurate parking control, the recognition of the parking space 200 should be made accurately. Accurate recognition of the parking space 200, the location of a particular object (i.e., obstacles that interfere with parking control, vehicle A 220 and vehicle B 230 in FIG. 2, etc.) in the vicinity of the parking space 200 It is essential to know exactly.

However, when the parking space 200 is recognized by the conventional parking control device, the parking space 200 is incorrectly recognized by incorrectly detecting the position of an object (a peripheral obstacle, that is, the vehicle A 220 or the vehicle B 230, etc.). Problems may arise. In this case, the reason for misidentifying the position of the object is because the sensor data used when recognizing the parking space 200 is too short or excessive, so that both corner points of the object are determined differently from the actual conditions.

3 is a diagram illustrating a recognition error due to lack of sensor data in the parking control environment of FIG. 2.

Referring to FIG. 3, the sensor signal transmitted from the sensor mounted on the vehicle X 210 is received by being reflected by the vehicle A 220, and the sensor data obtained from the received reflection sensor signal is both sides of the vehicle A 220. May be lacking near the ends 310, 320. In this case, as shown in the graph of the experiment results on the right, recognition errors of approximately 38 cm and 8 cm occur near both ends 310 and 320 of the vehicle A 220. That is, an error occurs that the recognized width of the vehicle A 220 is recognized to be approximately 46 cm (= 38 + 8) narrower than the actual width. In other words, a recognition error occurs at a point where the positions of both corner points (both end points) of the vehicle A 220 enter inward in the vehicle center direction than the actual state. As a result, the position of the vehicle A 200 is misidentified and a recognition error of the parking space 200 occurs.

4 is a diagram illustrating a recognition error due to excessive sensor data in the parking control environment of FIG. 2.

Referring to FIG. 4, the sensor signal transmitted from the sensor mounted on the vehicle X 210 is received by being reflected by the vehicle A 220, and the sensor data obtained from the received reflection sensor signal is both sides of the vehicle A 220. It can occur excessively near the end (310, 320). In this case, as shown in the graph of the experiment result of FIG. 4, the sensor data 410 and 420 generated excessively in the vicinity of both ends 310 and 320 of the vehicle A 220 may be recognized by the vehicle A 220. It generates an error that makes the width recognized wider than the actual width. In other words, a recognition error occurs at a point where the positions of both corner points (both end points) of the vehicle A 220 are moved outward from the direction of the vehicle center than the actual state. As a result, the position of the vehicle A 200 is misidentified and a recognition error of the parking space 200 occurs.

The parking space recognizing apparatus 100 described above with reference to FIG. 1 is a device that provides a high recognition performance for the parking space 200 by improving the aforementioned conventional parking space 200 recognition error.

The sensor data analyzing unit 120 included in the parking space recognizing apparatus 100 analyzes sensor data acquired by the sensor data obtaining unit 110, thereby preventing a specific object (the interference during the parking control) from the surroundings of the parking space. It extracts the edge point and the reference point of the obstacle), and recognizes the point where there is a specific object (obstacle that interferes with the parking control) around the parking space, and extracts both end points of the recognized points as the edge point. In this case, the center point among the recognized points can be extracted as a reference point.

The above-described corner point determiner 130, as an example of a corner point determination method, grasps the width of a specific object based on the extracted edge point of the specific object in the sensor data analyzer 120, and determines the detected width. As a result of comparison with the reference width, if the identified width and the reference width do not differ by more than a certain range (that is, the identified width and the reference width are almost equal), the X coordinate value of the extracted edge point of the specific object The corner point can be determined by acquiring the X coordinate value and the Y coordinate value of the corner point from the extracted Y coordinate value of the reference point, respectively. That is, the X coordinate value of the edge point measured from the sensor data is directly determined as the X coordinate value of the corner point.

However, the X coordinate value of the edge point measured from the sensor data may be different from the actual end point of the specific object. That is, there may be a case where the identified width and the reference width differ by more than a certain range (that is, the identified width and the reference width differ significantly). This causes the parking space recognition error by mislocating a specific object around the parking space. In order to solve such a parking space recognition error, the above-described corner point determination unit 130 is an example of a corner point determination method, based on the extracted edge point of the specific object in the sensor data analyzer 120. If you know the width of, and compare the identified width to the reference width, and the difference between the identified width and the reference width is more than a certain range, then the X coordinate of the corner point based on "reference point" and "deviation offset" By obtaining the value and the Y coordinate value, the corner point can be determined.

Below is the case where the identified width and the reference width differ by more than a certain range, and the identified width and the reference width differ by more than a certain range because the identified width is insufficient. And the case where the identified width differs by more than a certain range due to the excessive reference width (which is caused by the excessive sensor data). It will be described in detail with reference to 5 and 6, respectively.

Referring to FIG. 5, when a recognition error occurs due to lack of sensor data, the corner point determiner 130 analyzes the sensor data by the sensor data analyzer 120 and extracts a reference point and an edge point extracted from a specific object. To determine the corner point by using, in more detail, the distance d1 between the X coordinate value of the reference point of the specific object and the X coordinate value of the edge point is calculated to calculate the width of the specific object from the calculated distance d1. (2 * d1) is identified, and the identified width (2 * d1) is compared with the reference width, and the identified width (2 * d1) is less than the reference width, so the identified width and reference width are beyond a certain range. If there is a difference, the X coordinate value of the corner point of the specific object is obtained from the X coordinate value of the reference point and the X value of the deviation offset (X value 1, X value 2).

Referring to FIG. 6, when a recognition error occurs due to excessive sensor data, the corner point determiner 130 determines that the determined width 2 * d2 of the specific object is greater than the reference width and thus the recognized width 2 *. d2) and the reference width differ by more than a certain range, the corner of the X coordinate value corresponding to the Y coordinate value away from the Y coordinate value of the reference point by the Y value (Y value 1, Y value 2) of the deviation offset Obtained by the X coordinate of the point.

In addition, the corner point determiner 130 obtains the Y coordinate value of the corner point from the Y coordinate value of the reference point.

In this way, the corner point determining unit 130 performs the corner point from the X coordinate value of the corner point obtained in the case of FIG. 5 or the case of FIG. 6 and the Y coordinate value of the corner point obtained from the Y coordinate value of the reference point. Can be determined.

The parking space recognition apparatus 100 according to the embodiment of the present invention described above may be included in a sensor such as an ultrasonic sensor or a parking control system, or may be implemented as an electronic control unit (ECU).

FIG. 7 is a diagram illustrating a result of recognizing a parking space in the parking control environment of FIG. 2. However, FIG. 7 illustrates a result of recognizing the parking space 200 through the corner point determination method in the case of excessive sensor data as in FIG. 6.

Referring to FIG. 7, the parking space recognizing apparatus 100 according to an embodiment of the present invention uses the aforementioned method to determine corner points of specific objects (vehicle A 220 and vehicle B 230 of FIG. 2). Decide That is, the start point and the end point C1 of the vehicle A 220 can be known, and the start point C2 and the end point of the vehicle B 230 can be known. In this way, the space between the end point C1 of the vehicle A 220 and the start point C2 of the vehicle B 230 is recognized as the parking space 200. In this case, it may be confirmed that the width W2 of the recognized parking space 200 is wider than the width W1 recognized by the recognition error of the parking space 200. That is, conventionally, due to excessive sensor data, the position of the corner point of a specific object (vehicle A 220, B 230 of FIG. 2) is incorrectly recognized, and this causes the specific object (vehicle A 220 of FIG. 2). According to the present invention, the width W1 of the parking space 200 is narrowly determined by grasping the width of the vehicle B 230 wider than it actually is. By correcting the position of the corner point of the vehicle B (230) and accurately recognizing, it is possible to recognize the parking space 200 that has been narrowly recognized than the actual state.

8 is a brief flowchart of a parking space recognition method provided by the parking space recognition apparatus 100 according to an embodiment of the present invention described above.

Referring to FIG. 8, the parking space recognition method provided by the parking space recognition apparatus 100 according to an embodiment of the present invention includes one in which a sensor signal is transmitted through a sensor and the transmitted sensor signal is around the parking space. Acquiring sensor data from a reflection sensor signal received by being reflected by an abnormal object (which may include an obstacle (specific object) that interferes with parking control and a general object that does not interfere) (S800); Analyzing the sensor data to extract an edge point and a reference point of the specific object (S802), and determining the corner point of the specific object based on the extracted edge point and the reference point (S804) and the determined corner point On the basis of the, and to identify the location of the specific object in the periphery of the parking space to recognize the parking space (S806) and the like.

In the above-described step S804, the process of obtaining the X coordinate value of the corner point is as follows.

In order to calculate the distance between the X coordinate value of the reference point extracted in step S802 and the X coordinate value of the edge point extracted in step 802 (that is, the width of the specific object), the sensor data is insufficient to determine the corner point of the specific object. The determination is made based on the calculated distance based on the calculated distance. If the sensor data is determined to be insufficient, the X coordinate value of the corner point of the specific object is obtained from the X coordinate value of the reference point and the X value of the deviation offset. If it is determined that the sensor data is excessive, the X coordinate value corresponding to the Y coordinate value separated by the Y value of the deviation offset from the Y coordinate value of the reference point is obtained as the X coordinate value of the corner point.

In step S804 described above, the Y coordinate value of the corner point may be obtained from the Y coordinate value of the reference point.

In this way, in step S804, the X coordinate value and the Y coordinate value of the corner point are obtained, and the corner point can be determined therefrom.

As described above, according to the present invention, even in a situation in which a recognition error may occur due to lack or excessive sensor data, an effect of accurately identifying the parking space by accurately identifying the position of an object around the parking space is provided. have.

While the present invention has been described in connection with what is presently considered to be the most practical and preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments. That is, within the scope of the present invention, all of the components may be selectively coupled to one or more of them. In addition, although all of the components may be implemented as one independent hardware, some or all of the components may be selectively combined to perform a part or all of the functions in one or a plurality of hardware. As shown in FIG. The codes and code segments constituting the computer program may be easily deduced by those skilled in the art. Such a computer program can be stored in a computer-readable storage medium, readable and executed by a computer, thereby realizing an embodiment of the present invention. As the storage medium of the computer program, a magnetic recording medium, an optical recording medium, a carrier wave medium, or the like may be included.

It is also to be understood that the terms such as " comprises, "" comprising," or "having ", as used herein, mean that a component can be implanted unless specifically stated to the contrary. But should be construed as including other elements. All terms, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. Commonly used terms, such as predefined terms, should be interpreted to be consistent with the contextual meanings of the related art, and are not to be construed as ideal or overly formal, unless expressly defined to the contrary.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas falling within the scope of the same shall be construed as falling within the scope of the present invention.

100: parking space recognition device 110: sensor data acquisition unit
120: sensor data analysis unit 130: corner point determination unit
140: parking space recognition unit 200: parking space
210: vehicle X 220: vehicle A
230: vehicle B

Claims (7)

  1. A sensor data acquisition unit configured to transmit a sensor signal through a sensor and to acquire sensor data from the received reflection sensor signal by reflecting the transmitted sensor signal to one or more objects around the parking space;
    A sensor data analyzer configured to analyze the sensor data and extract edge and reference points of a specific object;
    A corner point determiner configured to determine a corner point of the specific object based on the edge point and the reference point; And
    A parking space recognition unit for recognizing the parking space by identifying the position of the specific object around the parking space based on the corner point.
    Parking space recognition apparatus comprising a.
  2. The method according to claim 1,
    The sensor data analysis unit,
    Analyzing the sensor data to recognize the point where the specific object is located, extract both end points of the recognized point as the edge point, and extracts the center point of the recognized point as the reference point Parking space recognition device.
  3. The method according to claim 1,
    The corner point determination unit,
    The reference point and the deviation when the width of the specific object is determined based on the edge point, and the determined width and the reference width are different from each other by a predetermined range or more. And determining the corner point by acquiring an X coordinate value and a Y coordinate value of the corner point based on an offset.
  4. The method of claim 3,
    The corner point determination unit,
    Calculating the distance between the X coordinate value of the reference point and the X coordinate value of the edge point, and grasp the width of the specific object from the calculated distance,
    Comparing the identified width with the reference width,
    If the determined width is less than the reference width and the determined width and the reference width are different by a predetermined range or more, the corner point of the specific object from the X coordinate value of the reference point and the X value of the deviation offset Obtain the X coordinate of,
    If the identified width is greater than the reference width and the determined width and the reference width differ by more than a predetermined range, they correspond to Y coordinate values that are separated by the Y value of the deviation offset from the Y coordinate value of the reference point. Obtaining an X coordinate value as an X coordinate value of the corner point,
    By obtaining the Y coordinate value of the corner point from the Y coordinate value of the reference point,
    The parking space recognition apparatus, characterized in that for determining the corner point.
  5. The method according to claim 1,
    The corner point determination unit,
    The width of the specific object is determined based on the edge point, and the determined width is compared with a reference width.
    When the determined width and the reference width do not differ by more than a predetermined range, by obtaining the X coordinate value and the Y coordinate value of the corner point from the X coordinate value of the edge point and the Y coordinate value of the reference point, respectively. And determining the corner point.
  6. In the parking space recognition method provided by the parking space recognition apparatus,
    (a) transmitting a sensor signal through a sensor and obtaining sensor data from the received reflection sensor signal by reflecting the transmitted sensor signal to one or more objects in the periphery of the parking space;
    (b) extracting an edge point and a reference point of a specific object by analyzing the sensor data;
    (c) determining a corner point of the specific object based on the edge point and the reference point; And
    (d) recognizing the parking space by identifying the position of the specific object around the parking space based on the corner point;
    Parking space recognition method comprising a.
  7. The method according to claim 6,
    The step (c)
    Calculating a distance between the X coordinate value of the reference point and the X coordinate value of the edge point, and determining whether the sensor data is insufficient or excessive to determine a corner point of the specific object, based on the calculated distance,
    If it is determined that the sensor data is insufficient, the X coordinate value of the corner point of the specific object is obtained from the X coordinate value of the reference point and the X value of the deviation offset, and if the sensor data is determined to be excessive, the Y coordinate of the reference point An X coordinate value corresponding to a Y coordinate value separated by a Y value of a deviation offset from a value is obtained as an X coordinate value of the corner point,
    By obtaining the Y coordinate value of the corner point from the Y coordinate value of the reference point,
    The parking space recognition method, characterized in that for determining the corner point.
KR1020100063678A 2010-07-02 2010-07-02 Method and apparatus for recognizing parking slot KR101377346B1 (en)

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KR101947826B1 (en) 2012-04-10 2019-02-13 현대자동차주식회사 Method for recognizimg parking mark for vehicle

Citations (4)

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Publication number Priority date Publication date Assignee Title
JP2002183719A (en) * 2000-12-13 2002-06-28 Nissan Motor Co Ltd Device for detecting vehicular surroundings
JP2005009992A (en) * 2003-06-18 2005-01-13 Denso Corp Periphery monitoring apparatus for vehicle
JP2006007875A (en) * 2004-06-23 2006-01-12 Denso Corp Support device for parking
JP2010058787A (en) * 2009-11-10 2010-03-18 Mitsubishi Electric Corp Parking assistance device

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002183719A (en) * 2000-12-13 2002-06-28 Nissan Motor Co Ltd Device for detecting vehicular surroundings
JP2005009992A (en) * 2003-06-18 2005-01-13 Denso Corp Periphery monitoring apparatus for vehicle
JP2006007875A (en) * 2004-06-23 2006-01-12 Denso Corp Support device for parking
JP2010058787A (en) * 2009-11-10 2010-03-18 Mitsubishi Electric Corp Parking assistance device

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